CN115941529A - Cable tunnel detection method and system based on robot - Google Patents
Cable tunnel detection method and system based on robot Download PDFInfo
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Abstract
The invention provides a robot-based cable tunnel detection method and system. The cable tunnel detection method comprises the steps of collecting environmental monitoring data acquired by an environmental sensor group in real time, and carrying out safety monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode; acquiring image information of a cable through a visual sensor, and carrying out image data preprocessing on the image to obtain a noise-reduced image; and processing the image by an image segmentation method to obtain the shielding information in the image. The cable tunnel detection system comprises modules corresponding to the steps of the cable tunnel detection method.
Description
Technical Field
The invention provides a robot-based cable tunnel detection method and system, and belongs to the technical field of inspection and supervision.
Background
With the rapid development of the power industry and urban construction, more and more power transmission and distribution networks are gradually replaced by power cable tunnels, and due to the complex operation environment of the cable tunnels, the change of the tunnel environment can bring certain adverse effects on the safe and reliable operation of power cables, and the power transmission can be interrupted in severe cases. Therefore, the reliable and stable power cable tunnel autonomous supervision system is developed, and the system has important significance for guaranteeing safe and stable operation of the urban cable tunnel and efficient urban production.
In recent years, each large power grid company pays more attention to the cabling task of the power transmission network, the total mileage of a cable tunnel is continuously refreshed, the shortage of cable operation supervisors, particularly the structural lack of personnel, is increasingly prominent, and a large amount of work such as tunnel environment, equipment inspection, defect tracking, supervision data entry and the like still depends on manual work. However, manual supervision cannot meet the extremely high requirements of the safety of the power system, personnel arrangement is not easy to control, manual supervision time is long, tasks are heavy, dangerousness is high, a large amount of manpower and material resources are consumed, a good effect cannot be achieved, and high-degree safety guarantee of power equipment cannot be achieved.
To above-mentioned problem, the robot is patrolled and examined to cable tunnel of adopting at present and is patrolled and examined more often the lower problem of sensor data analysis accuracy appears.
Disclosure of Invention
The invention provides a robot-based cable tunnel detection method and system, which are used for solving the problem of lower accuracy of sensor data analysis of an inspection robot in the prior art, and adopt the following technical scheme:
a robot-based cable tunnel detection method, comprising:
acquiring environmental monitoring data acquired by an environmental sensor group in real time, and carrying out safety monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode;
acquiring image information of a cable through a visual sensor, and carrying out image data preprocessing on the image to obtain a noise-reduced image;
and processing the image by an image segmentation method to obtain the shielding information in the image.
Further, gather the environmental monitoring data that environmental sensor group acquireed in real time to carry out security monitoring to current cable tunnel environment through data fusion and data simultaneous analysis mode, include:
acquiring monitoring data acquired by a sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data;
and carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain associated physical quantity parameters corresponding to the parameter data, comparing the associated physical quantity parameters with a preset parameter threshold, and sending an early warning signal by the robot when the filtered monitoring parameter data exceeds the preset parameter threshold.
Furthermore, the sensor group comprises an oxygen concentration detection sensor, a combustible gas concentration sensor, a toxic gas concentration sensor, an infrared temperature measurement sensor, an air humidity touch sensor, an air temperature sensor and a visual sensor; the monitoring parameter data comprises air temperature data, air humidity data, cable temperature data, oxygen concentration data, combustible gas concentration data and toxic gas concentration data.
Further, the sending of the early warning signal by the robot includes:
the robot sends an early warning signal to the command center according to a preset early warning signal sending frequency and receives feedback information after the command center receives the early warning signal in real time;
calculating a feedback information acquisition time period according to the current position of the robot and the signal delay factor;
and when the feedback information acquisition time period is exceeded and the feedback information sent by the command center is not received, the robot rapidly leaves the current cable tunnel section and adjusts the sending frequency of the early warning signal in the way of leaving.
Wherein the feedback information acquisition period is acquired by the following formula:
wherein T represents a feedback information acquisition period; l is 0 Representing the information transmission distance between the cable tunnel portal and the command center; l represents the linear distance before the robot travels the distance from the cable tunnel entrance in the cable tunnel process; l is q Representing the full-length actual distance of the cable tunnel;
and, the warning signal transmission frequency is adjusted by the following formula:
wherein, f represents the adjusted sending frequency of the early warning signal; f. of 0 Representing the initial pre-warning signal transmission frequency.
Further, processing the image by an image segmentation method to obtain occlusion information in the image, including:
scanning the image to acquire target global position information in the image;
extracting the position of a target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the positions of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components;
marking key points of the components in the image blocks of the region, and extracting a standard template graph of the key points of the components;
gradually evolving and regressing the standard template graph of the key points of the component to the real positions of the target key points to obtain confidence information of each key point in the real positions;
and analyzing the confidence information of each key point at the real position to obtain the shielding information of the key point.
A robot-based cable tunnel detection system, the cable tunnel detection system comprising:
the real-time acquisition module is used for acquiring environmental monitoring data acquired by the environmental sensor group in real time and monitoring the safety of the current cable tunnel environment in a data fusion and data simultaneous analysis mode;
the preprocessing module is used for acquiring image information of the cable through a visual sensor and preprocessing image data of the image to obtain an image subjected to noise reduction;
and the image processing module is used for processing the image by an image segmentation method to acquire the shielding information in the image.
Further, the real-time acquisition module comprises:
the parameter signal processing module is used for acquiring monitoring data acquired by the sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data;
and the comparison early warning module is used for carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain associated physical quantity parameters corresponding to the parameter data, comparing the associated physical quantity parameters with a preset parameter threshold value, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold value.
Furthermore, the sensor group comprises an oxygen concentration detection sensor, a combustible gas concentration sensor, a toxic gas concentration sensor, an infrared temperature measurement sensor, an air humidity touch sensor, an air temperature sensor and a visual sensor; the monitoring parameter data comprises air temperature data, air humidity data, cable temperature data, oxygen concentration data, combustible gas concentration data and toxic gas concentration data.
Further, the comparison early warning module comprises:
the transmitting and receiving module is used for transmitting an early warning signal to the command center according to a preset early warning signal transmitting frequency and receiving feedback information after the command center receives the early warning signal in real time;
the time interval acquisition module is used for calculating a feedback information acquisition time interval according to the current position of the robot and the signal delay factor;
and the frequency adjusting module is used for rapidly leaving the current cable tunnel section when the feedback information sent by the command center is not received even when the feedback information acquisition time period is exceeded, and adjusting the sending frequency of the early warning signal on the way of leaving.
Wherein the feedback information acquisition period is acquired by the following formula:
wherein T represents a feedback information acquisition period; l is 0 Representing the information transmission distance between the cable tunnel portal and the command center; l represents a straight line distance before the robot travels to the distance from the cable tunnel entrance in the cable tunnel process; l is q Representing the full-length actual distance of the cable tunnel;
and, the warning signal transmission frequency is adjusted by the following formula:
wherein, f represents the adjusted sending frequency of the early warning signal; f. of 0 Representing the initial pre-warning signal transmission frequency.
Further, the image processing module includes:
the scanning module is used for scanning the image and acquiring target global position information in the image;
the position extraction module is used for extracting the position of the target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the position of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components;
the template extraction module is used for marking key points of the components in the image blocks of the area and extracting a standard template map of the key points of the components;
the confidence coefficient acquisition module is used for gradually evolving and regressing the standard template graph of the key points of the component to the real positions of the target key points to obtain the confidence coefficient information of each key point in the real positions;
and the analysis module is used for analyzing the confidence information of each key point at the real position to acquire the shielding information of the key point.
The invention has the beneficial effects that:
the invention provides a robot-based cable tunnel detection method and system, which are used for processing data acquired by a robot dog sensor by using a sensor on a robot, a sensor information fusion technology and a data acquisition correlation analysis method, so that the data processing accuracy and precision are effectively improved, and the tunnel detection accuracy is effectively improved. Meanwhile, the data transmission mode on the robot-based cable tunnel detection method and system provided by the invention can effectively improve the timeliness of detecting the outward transmission of the early warning data under the condition of poor communication environment in the cable tunnel. On the other hand, the accuracy and the identification efficiency of image identification and shielding information identification can be effectively improved through a split image processing mode.
Drawings
FIG. 1 is a first flow chart of the method of the present invention;
FIG. 2 is a second flow chart of the method of the present invention;
fig. 3 is a system block diagram of the system of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides a robot-based cable tunnel detection method, which comprises the following steps of:
s1, collecting environmental monitoring data acquired by an environmental sensor group in real time, and carrying out security monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode;
s2, acquiring image information of the cable through a visual sensor, and performing image data preprocessing on the image to obtain a noise-reduced image;
and S3, processing the image through an image segmentation method to obtain the shielding information in the image.
As shown in fig. 2, the detailed process of acquiring environmental monitoring data acquired by the environmental sensor group in real time and monitoring the security of the current cable tunnel environment through data fusion and data simultaneous analysis in S1 includes:
s101, collecting monitoring data acquired by a sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data;
s102, carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain associated physical quantity parameters corresponding to the parameter data, comparing the associated physical quantity parameters with a preset parameter threshold value, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold value.
The sensor group comprises an oxygen concentration detection sensor, a combustible gas concentration sensor, a toxic gas concentration sensor, an infrared temperature measurement sensor, an air humidity touch sensor, an air temperature sensor and a visual sensor; the monitoring parameter data comprises air temperature data, air humidity data, cable temperature data, oxygen concentration data, combustible gas concentration data and toxic gas concentration data.
The working principle of the technical scheme is as follows: firstly, collecting environmental monitoring data acquired by an environmental sensor group in real time, and carrying out security monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode; then, acquiring image information of the cable through a visual sensor, and carrying out image data preprocessing on the image to obtain a noise-reduced image; and finally, processing the image by an image segmentation method to obtain the shielding information in the image.
Meanwhile, the detailed process of collecting the environmental monitoring data acquired by the environmental sensor group in real time and carrying out security monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode comprises the following steps: acquiring monitoring data acquired by a sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data; and carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain an associated physical quantity parameter corresponding to the parameter data, comparing the associated physical quantity parameter with a preset parameter threshold, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold.
The effect of the above technical scheme is as follows: according to the cable tunnel detection method based on the robot, the data collected by the robot dog sensor is processed by utilizing the sensor on the robot, the fusion technology of sensor information and the correlation analysis method of collected data, so that the data processing accuracy and precision are effectively improved, and the tunnel detection accuracy is effectively improved. Meanwhile, the data transmission mode of the robot-based cable tunnel detection method is provided by the embodiment, and the timeliness of detecting the outward transmission of the early warning data can be effectively improved under the condition that the communication environment in the cable tunnel is poor. On the other hand, the accuracy and the recognition efficiency of image recognition and shielding information recognition can be effectively improved through a split image processing mode.
In an embodiment of the present invention, the sending an early warning signal by a robot includes:
s1021, the robot sends an early warning signal to the command center according to a preset early warning signal sending frequency and receives feedback information after the command center receives the early warning signal in real time;
s1022, calculating a feedback information acquisition time period according to the current position of the robot and the signal delay factor;
and S1023, when the feedback information acquisition time period is exceeded and the feedback information sent by the command center is not received yet, the robot rapidly leaves the current cable tunnel section and adjusts the sending frequency of the early warning signal on the way of leaving.
Wherein the feedback information acquisition period is acquired by the following formula:
wherein T represents a feedback information acquisition period; l is 0 Representing the information transmission distance between the cable tunnel portal and the command center; l represents the linear distance before the robot travels the distance from the cable tunnel entrance in the cable tunnel process; l is q Representing the full-length actual distance of the cable tunnel; t is 0 Indicating the information feedback standard time inherent to the system equipment.
And, the warning signal transmission frequency is adjusted by the following formula:
wherein, f represents the adjusted sending frequency of the early warning signal; f. of 0 Representing the initial pre-warning signal transmission frequency.
The working principle of the technical scheme is as follows: firstly, the robot sends an early warning signal to a command center according to a preset early warning signal sending frequency, and receives feedback information after the command center receives the early warning signal in real time; then, calculating a feedback information acquisition time period according to the current position of the robot and the signal delay factor; and finally, when the feedback information acquisition time period is exceeded and the feedback information sent by the command center is not received, the robot rapidly leaves the current cable tunnel section and adjusts the sending frequency of the early warning signal in the way of leaving.
The effect of the above technical scheme is: through the data transmission mode, the timeliness of detecting the outward transmission of the early warning data can be effectively improved under the condition of poor communication environment in the cable tunnel. Meanwhile, the change of the feedback information acquisition time interval and the real-time sending frequency of the early warning information is set by combining the actual running distance of the robot, the frequency and the feedback time can be set according to the actual position of the robot, the rationality of setting the feedback information by taking the specific robot position as the basis can be effectively improved, and meanwhile, the time monitoring accuracy of information feedback and the timeliness of finding communication abnormity can also be effectively improved. The situation that communication abnormity cannot be found timely according to the environment where the actual robot is located due to monitoring of the fixed feedback information monitoring time period is prevented from occurring.
In an embodiment of the present invention, processing the image by an image segmentation method to obtain occlusion information in the image includes:
s301, scanning the image to acquire target global position information in the image;
s302, extracting the position of the target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the position of the target object and the positions of other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components;
s303, marking key points of the component in the image block of the area, and extracting a standard template graph of the key points of the component;
s304, gradually evolving and regressing the standard template graph of the key points of the component to the real position of the target key point to obtain confidence information of each key point in the real position;
s305, analyzing the confidence information of each key point at the real position to obtain the shielding information of the key point.
The working principle of the technical scheme is as follows: firstly, scanning the image to acquire target global position information in the image; then, extracting the position of the target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the positions of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components; subsequently, marking key points of the part in the image block of the region, and extracting a standard template graph of the key points of the part; then, gradually evolving and regressing the standard template graph of the key points of the component to the real position of the target key point to obtain confidence information of each key point in the real position; and finally, analyzing the confidence information of each key point at the real position to obtain the shielding information of the key point.
The effect of the above technical scheme is as follows: the accuracy and the recognition efficiency of image recognition and shielding information recognition can be effectively improved through a segmentation type image processing mode.
The embodiment of the invention provides a cable tunnel detection system based on a robot, and as shown in fig. 3, the cable tunnel detection system comprises:
the real-time acquisition module is used for acquiring environmental monitoring data acquired by the environmental sensor group in real time and monitoring the safety of the current cable tunnel environment in a data fusion and data simultaneous analysis mode;
the preprocessing module is used for acquiring image information of the cable through a visual sensor and preprocessing image data of the image to obtain an image subjected to noise reduction;
and the image processing module is used for processing the image by an image segmentation method to acquire the shielding information in the image.
Wherein, real-time collection module includes:
the parameter signal processing module is used for acquiring monitoring data acquired by the sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data;
and the comparison early warning module is used for carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain associated physical quantity parameters corresponding to the parameter data, comparing the associated physical quantity parameters with a preset parameter threshold value, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold value.
The sensor group comprises an oxygen concentration detection sensor, a combustible gas concentration sensor, a toxic gas concentration sensor, an infrared temperature measurement sensor, an air humidity touch sensor, an air temperature sensor and a visual sensor; the monitoring parameter data comprises air temperature data, air humidity data, cable temperature data, oxygen concentration data, combustible gas concentration data and toxic gas concentration data.
The working principle of the technical scheme is as follows: firstly, acquiring environmental monitoring data acquired by an environmental sensor group in real time through a real-time acquisition module, and carrying out safety monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode; then, a preprocessing module is adopted to acquire image information of the cable through a visual sensor, and image data preprocessing is carried out on the image to obtain an image subjected to noise reduction; and finally, processing the image by an image processing module through an image segmentation method to obtain the shielding information in the image.
The operation process of the real-time acquisition module comprises the following steps:
firstly, acquiring monitoring data acquired by a sensor group in real time through a parameter signal processing module, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data; and then, performing information fusion and information analysis on the filtered monitoring parameter data by using a comparison early warning module to obtain a relevant physical quantity parameter corresponding to the parameter data, comparing the relevant physical quantity parameter with a preset parameter threshold, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold.
The effect of the above technical scheme is: the embodiment provides a cable tunnel detection system based on a robot, which utilizes a sensor on the robot, a fusion technology of sensor information and an associated analysis method of collected data to process data collected by a robot dog sensor, so that the accuracy and precision of data processing are effectively improved, and the accuracy of tunnel detection is effectively improved. Meanwhile, the data transmission mode on the robot-based cable tunnel detection system is provided through the embodiment, and the timeliness of detecting the outward transmission of the early warning data can be effectively improved under the condition that the communication environment in the cable tunnel is poor. On the other hand, the accuracy and the identification efficiency of image identification and shielding information identification can be effectively improved through a split image processing mode.
In an embodiment of the present invention, the comparison and early warning module includes:
the transmitting and receiving module is used for transmitting an early warning signal to the command center according to a preset early warning signal transmitting frequency and receiving feedback information after the command center receives the early warning signal in real time;
the time interval acquisition module is used for calculating the feedback information acquisition time interval according to the current position of the robot and the signal delay factor;
and the frequency adjusting module is used for rapidly leaving the current cable tunnel section when the feedback information sent by the command center is not received even if the feedback information acquisition time period is exceeded, and adjusting the sending frequency of the early warning signal on the way of leaving.
Wherein the feedback information acquisition period is acquired by the following formula:
wherein T represents feedback informationAcquiring a time interval; l is 0 Representing the information transmission distance between the cable tunnel portal and the command center; l represents the linear distance before the robot travels the distance from the cable tunnel entrance in the cable tunnel process; l is q Representing the full-length actual distance of the cable tunnel;
and, the warning signal transmission frequency is adjusted by the following formula:
wherein, f represents the adjusted sending frequency of the early warning signal; f. of 0 Representing the initial pre-warning signal transmission frequency.
The working principle of the technical scheme is as follows: firstly, controlling the robot to send an early warning signal to a command center according to a preset early warning signal sending frequency through a sending and receiving module, and receiving feedback information after the command center receives the early warning signal in real time; then, calculating a feedback information acquisition time period by using a time period acquisition module according to the current position of the robot and the signal delay factor; and finally, when the feedback information acquisition time period is exceeded and the feedback information sent by the command center is not received yet through the frequency adjustment module, the robot rapidly leaves the current cable tunnel section and adjusts the sending frequency of the early warning signal in the way of leaving.
The effect of the above technical scheme is as follows: through the data transmission mode, the timeliness of detecting the outward transmission of the early warning data can be effectively improved under the condition of poor communication environment in the cable tunnel. Meanwhile, the change of the feedback information acquisition time interval and the real-time sending frequency of the early warning information is set by combining the actual running distance of the robot, the frequency and the feedback time can be set according to the actual position of the robot, the rationality of setting the feedback information by taking the specific robot position as the basis can be effectively improved, and meanwhile, the time monitoring accuracy of information feedback and the timeliness of finding communication abnormity can also be effectively improved. The situation that communication abnormity cannot be found timely according to the environment where the actual robot is located due to monitoring of the fixed feedback information monitoring time period is prevented from occurring.
In one embodiment of the present invention, the image processing module includes:
the scanning module is used for scanning the image and acquiring target global position information in the image;
the position extraction module is used for extracting the position of the target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the position of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components;
the template extraction module is used for marking key points of the components in the image blocks of the area and extracting a standard template map of the key points of the components;
the confidence coefficient acquisition module is used for gradually evolving and regressing the standard template graph of the key points of the component to the real positions of the target key points to acquire confidence coefficient information of each key point in the real positions;
and the analysis module is used for analyzing the confidence information of each key point at the real position to acquire the shielding information of the key point.
The working principle of the technical scheme is as follows: firstly, scanning the image through a scanning module to acquire target global position information in the image; then, extracting the position of the target object and the positions of other equipment components in the target global position information by using a position extraction module, and performing area segmentation on the image according to the positions of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components; then, marking key points of the part in the image block of the area through a template extraction module, and extracting a standard template graph of the key points of the part; then, gradually evolving and regressing the standard template graph of the key points of the component to the real positions of the target key points by using a confidence coefficient acquisition module to obtain confidence coefficient information of each key point in the real positions; and finally, analyzing the confidence information of each key point at the real position by adopting an analysis module to obtain the shielding information of the key points.
The effect of the above technical scheme is: the accuracy and the recognition efficiency of image recognition and shielding information recognition can be effectively improved through a segmentation type image processing mode.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A cable tunnel detection method based on a robot is characterized by comprising the following steps:
acquiring environmental monitoring data acquired by an environmental sensor group in real time, and carrying out safety monitoring on the current cable tunnel environment in a data fusion and data simultaneous analysis mode;
acquiring image information of a cable through a visual sensor, and performing image data preprocessing on the image to obtain a noise-reduced image;
and processing the image by an image segmentation method to obtain the shielding information in the image.
2. The cable tunnel detection method according to claim 1, wherein the method of collecting environmental monitoring data acquired by an environmental sensor group in real time and monitoring security of a current cable tunnel environment by means of data fusion and data simultaneous analysis comprises:
acquiring monitoring data acquired by a sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data;
and carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain an associated physical quantity parameter corresponding to the parameter data, comparing the associated physical quantity parameter with a preset parameter threshold, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold.
3. The cable tunnel detection method according to claim 2, wherein the sensor group comprises an oxygen concentration detection sensor, a combustible gas concentration sensor, a toxic gas concentration sensor, an infrared temperature measurement sensor, an air humidity sensor, an air temperature sensor and a vision sensor; the monitoring parameter data comprises air temperature data, air humidity data, cable temperature data, oxygen concentration data, combustible gas concentration data and toxic gas concentration data.
4. The cable tunnel detection method of claim 2, wherein the sending of the pre-warning signal by the robot comprises:
the robot sends an early warning signal to the command center according to a preset early warning signal sending frequency and receives feedback information after the command center receives the early warning signal in real time;
calculating a feedback information acquisition time period according to the current position of the robot and the signal delay factor;
when the feedback information acquisition time period is exceeded and the feedback information sent by the command center is not received, the robot rapidly leaves the current cable tunnel section and adjusts the sending frequency of the early warning signal in the way of leaving; .
Wherein the feedback information acquisition period is acquired by the following formula:
wherein T represents a feedback information acquisition period; l is 0 Representing the information transmission distance between the cable tunnel portal and the command center; l represents the linear distance before the robot travels the distance from the cable tunnel entrance in the cable tunnel process; l is q Representing the full-length actual distance of the cable tunnel;
and, the warning signal transmission frequency is adjusted by the following formula:
wherein, f represents the adjusted sending frequency of the early warning signal; f. of 0 Representing the initial pre-warning signal transmission frequency.
5. The cable tunnel detection method according to claim 1, wherein the processing the image by an image segmentation method to obtain occlusion information in the image comprises:
scanning the image to acquire target global position information in the image;
extracting the position of a target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the positions of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components;
marking key points of the components in the image blocks of the region, and extracting a standard template graph of the key points of the components;
gradually evolving and regressing the standard template graph of the key points of the component to the real positions of the target key points to obtain confidence information of each key point in the real positions;
and analyzing the confidence information of each key point at the real position to obtain the shielding information of the key point.
6. A robot-based cable tunnel detection system, comprising:
the real-time acquisition module is used for acquiring environmental monitoring data acquired by the environmental sensor group in real time and monitoring the safety of the current cable tunnel environment in a data fusion and data simultaneous analysis mode;
the preprocessing module is used for acquiring image information of the cable through a visual sensor and preprocessing image data of the image to obtain an image subjected to noise reduction;
and the image processing module is used for processing the image by an image segmentation method to acquire the shielding information in the image.
7. The cable tunnel detection system of claim 6, wherein the real-time acquisition module comprises:
the parameter signal processing module is used for acquiring monitoring data acquired by the sensor group in real time, and performing data filtering pretreatment on the data to acquire filtered monitoring parameter data;
and the comparison early warning module is used for carrying out information fusion and information analysis on the filtered monitoring parameter data to obtain associated physical quantity parameters corresponding to the parameter data, comparing the associated physical quantity parameters with a preset parameter threshold value, and sending an early warning signal by a robot when the filtered monitoring parameter data exceeds the preset parameter threshold value.
8. The cable tunnel detection system of claim 7, wherein the sensor group comprises an oxygen concentration detection sensor, a combustible gas concentration sensor, a toxic gas concentration sensor, an infrared temperature measurement sensor, an air humidity sensor, an air temperature sensor, and a vision sensor; the monitoring parameter data comprises air temperature data, air humidity data, cable temperature data, oxygen concentration data, combustible gas concentration data and toxic gas concentration data.
9. The cable tunnel detection system of claim 7, wherein the compare and forewarning module comprises:
the transmitting and receiving module is used for transmitting an early warning signal to the command center according to a preset early warning signal transmitting frequency and receiving feedback information after the command center receives the early warning signal in real time;
the time interval acquisition module is used for calculating a feedback information acquisition time interval according to the current position of the robot and the signal delay factor;
and the frequency adjusting module is used for rapidly leaving the current cable tunnel section when the feedback information sent by the command center is not received even when the feedback information acquisition time period is exceeded, and adjusting the sending frequency of the early warning signal on the way of leaving. (ii) a
Wherein the feedback information acquisition period is acquired by the following formula:
wherein T represents a feedback information acquisition period; l is a radical of an alcohol 0 Representing the information transmission distance between the cable tunnel portal and the command center; l represents the linear distance before the robot travels the distance from the cable tunnel entrance in the cable tunnel process; l is a radical of an alcohol q Representing the full-length actual distance of the cable tunnel;
and, the warning signal transmission frequency is adjusted by the following formula:
wherein, f represents the adjusted sending frequency of the early warning signal; f. of 0 Representing the initial pre-warning signal transmission frequency.
10. The cable tunnel detection system of claim 6, wherein the image processing module comprises:
the scanning module is used for scanning the image and acquiring target global position information in the image;
the position extraction module is used for extracting the position of the target object and the positions of other equipment components in the target global position information, and performing area segmentation on the image according to the position of the target object and the positions of the other equipment components to obtain area image blocks respectively provided with the target object and the other equipment components;
the template extraction module is used for marking key points of the components in the image blocks of the area and extracting a standard template map of the key points of the components;
the confidence coefficient acquisition module is used for gradually evolving and regressing the standard template graph of the key points of the component to the real positions of the target key points to obtain the confidence coefficient information of each key point in the real positions;
and the analysis module is used for analyzing the confidence information of each key point at the real position to acquire the shielding information of the key point.
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| CN202211503506.5A CN115941529A (en) | 2022-11-28 | 2022-11-28 | Cable tunnel detection method and system based on robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116523845A (en) * | 2023-04-10 | 2023-08-01 | 江苏濠汉信息技术有限公司 | Defect detection method and system based on cable tunnel |
| CN116909196A (en) * | 2023-08-31 | 2023-10-20 | 国网山东省电力公司济南供电公司 | Intelligent cable channel monitoring system and method based on Internet of things technology |
| CN117686844A (en) * | 2024-02-02 | 2024-03-12 | 山东道万电气有限公司 | Power distribution network line monitoring method and system based on inspection robot |
-
2022
- 2022-11-28 CN CN202211503506.5A patent/CN115941529A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116523845A (en) * | 2023-04-10 | 2023-08-01 | 江苏濠汉信息技术有限公司 | Defect detection method and system based on cable tunnel |
| CN116523845B (en) * | 2023-04-10 | 2023-11-07 | 江苏濠汉信息技术有限公司 | Defect detection method and system based on cable tunnel |
| CN116909196A (en) * | 2023-08-31 | 2023-10-20 | 国网山东省电力公司济南供电公司 | Intelligent cable channel monitoring system and method based on Internet of things technology |
| CN116909196B (en) * | 2023-08-31 | 2024-03-15 | 国网山东省电力公司济南供电公司 | Intelligent cable channel monitoring system and method based on Internet of things technology |
| CN117686844A (en) * | 2024-02-02 | 2024-03-12 | 山东道万电气有限公司 | Power distribution network line monitoring method and system based on inspection robot |
| CN117686844B (en) * | 2024-02-02 | 2024-04-16 | 山东道万电气有限公司 | Power distribution network line monitoring method and system based on inspection robot |
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